Revision: 7051
http://playerstage.svn.sourceforge.net/playerstage/?rev=7051&view=rev
Author: natepak
Date: 2008-09-29 03:01:33 +0000 (Mon, 29 Sep 2008)
Log Message:
-----------
Give the stereo iface the names of the two camera ifaces
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-09-28 21:14:00 UTC (rev
7050)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-09-29 03:01:33 UTC (rev
7051)
@@ -1398,6 +1398,8 @@
/// Right depth map (float)
public: float right_depth[GAZEBO_STEREO_CAMERA_MAX_DISPARITY_SIZE];
+ public: char left_camera_iface_name[256];
+ public: char right_camera_iface_name[256];
};
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-09-28 21:14:00 UTC (rev 7050)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-09-29 03:01:33 UTC (rev 7051)
@@ -142,10 +142,18 @@
this->stereoIface->Lock(1);
if (this->stereoIface->data->head.openCount > 0)
this->PutStereoData();
+
+ strcpy( this->stereoIface->data->left_camera_iface_name,
+ (**this->leftCameraNameP).c_str() );
+
+ strcpy( this->stereoIface->data->right_camera_iface_name,
+ (**this->rightCameraNameP).c_str() );
+
this->stereoIface->Unlock();
this->stereoIface->Post();
}
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-09-28 21:14:00 UTC
(rev 7050)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-09-29 03:01:33 UTC
(rev 7051)
@@ -66,8 +66,7 @@
this->farClipP = new ParamT<double>("farClip",100,0);
this->saveFramesP = new ParamT<bool>("saveFrames",false,0);
this->savePathnameP = new ParamT<std::string>("saveFramePath","",0);
- this->imageWidthP = new ParamT<unsigned int>("imageSize",640,0);
- this->imageHeightP = new ParamT<unsigned int>("imageSize",480,0);
+ this->imageSizeP = new ParamT< Vector2<int> >("imageSize",
Vector2<int>(640,480),0);
this->visMaskP = new ParamT<std::string>("mask","none",0);
this->hfovP = new ParamT<Angle>("hfov", Angle(DTOR(60)),0);
Param::End();
@@ -88,8 +87,7 @@
delete this->farClipP;
delete this->saveFramesP;
delete this->savePathnameP;
- delete this->imageWidthP;
- delete this->imageHeightP;
+ delete this->imageSizeP;
delete this->visMaskP;
delete this->hfovP;
}
@@ -107,8 +105,7 @@
this->farClipP->Load(node);
this->saveFramesP->Load(node);
this->savePathnameP->Load(node);
- this->imageWidthP->Load(node);
- this->imageHeightP->Load(node);
+ this->imageSizeP->Load(node);
this->visMaskP->Load(node);
this->hfovP->Load(node);
@@ -146,8 +143,7 @@
stream << prefix << (*this->farClipP) << "\n";
stream << prefix << (*this->saveFramesP) << "\n";
stream << prefix << (*this->savePathnameP) << "\n";
- stream << prefix << (*this->imageWidthP) << "\n";
- stream << prefix << (*this->imageHeightP) << "\n";
+ stream << prefix << (*this->imageSizeP) << "\n";
stream << prefix << (*this->visMaskP) << "\n";
stream << prefix << (*this->hfovP) << "\n";
}
@@ -275,14 +271,14 @@
/// Get the width of the image
unsigned int OgreCamera::GetImageWidth() const
{
- return this->imageWidthP->GetValue();
+ return this->imageSizeP->GetValue().x;
}
//////////////////////////////////////////////////////////////////////////////
/// \brief Get the height of the image
unsigned int OgreCamera::GetImageHeight() const
{
- return this->imageHeightP->GetValue();
+ return this->imageSizeP->GetValue().y;
}
//////////////////////////////////////////////////////////////////////////////
@@ -304,7 +300,7 @@
// Get the image size in bytes
size_t OgreCamera::GetImageByteSize() const
{
- return this->imageHeightP->GetValue() * this->imageWidthP->GetValue() * 3;
+ return this->imageSizeP->GetValue().y * this->imageSizeP->GetValue().x * 3;
}
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2008-09-28 21:14:00 UTC
(rev 7050)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2008-09-29 03:01:33 UTC
(rev 7051)
@@ -174,7 +174,7 @@
protected: ParamT<Angle> *hfovP;
protected: ParamT<double> *nearClipP, *farClipP;
- protected: ParamT<unsigned int> *imageWidthP, *imageHeightP;
+ protected: ParamT< Vector2<int> > *imageSizeP;
protected: unsigned int textureWidth, textureHeight;
private: Ogre::Camera *camera;
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2008-09-28
21:14:00 UTC (rev 7050)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2008-09-29
03:01:33 UTC (rev 7051)
@@ -67,7 +67,8 @@
this->LoadCam( node );
// Do some sanity checks
- if (this->imageWidthP->GetValue() == 0 || this->imageHeightP->GetValue() ==
0)
+ if (this->imageSizeP->GetValue().x == 0 ||
+ this->imageSizeP->GetValue().y == 0)
{
gzthrow("image has zero size");
}
@@ -82,8 +83,8 @@
this->ogreTextureName,
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
- this->imageWidthP->GetValue(),
- this->imageHeightP->GetValue(), 0,
+ this->imageSizeP->GetValue().x,
+ this->imageSizeP->GetValue().y, 0,
Ogre::PF_R8G8B8,
Ogre::TU_RENDERTARGET);
@@ -147,7 +148,7 @@
// Get access to the buffer and make an image and write it to file
mBuffer = this->renderTexture->getBuffer(0, 0);
- size = this->imageWidthP->GetValue() * this->imageHeightP->GetValue() * 3;
+ size = this->imageSizeP->GetValue().x * this->imageSizeP->GetValue().y * 3;
// Allocate buffer
if (!this->saveFrameBuffer)
@@ -155,18 +156,18 @@
mBuffer->lock(Ogre::HardwarePixelBuffer::HBL_READ_ONLY);
- int top = (int)((mBuffer->getHeight() - this->imageHeightP->GetValue()) /
2.0);
- int left = (int)((mBuffer->getWidth() - this->imageWidthP->GetValue()) /
2.0);
- int right = left + this->imageWidthP->GetValue();
- int bottom = top + this->imageHeightP->GetValue();
+ int top = (int)((mBuffer->getHeight() - this->imageSizeP->GetValue().y) /
2.0);
+ int left = (int)((mBuffer->getWidth() - this->imageSizeP->GetValue().x) /
2.0);
+ int right = left + this->imageSizeP->GetValue().x;
+ int bottom = top + this->imageSizeP->GetValue().y;
// Get the center of the texture in RGB 24 bit format
mBuffer->blitToMemory(
Ogre::Box(left, top, right, bottom),
Ogre::PixelBox(
- this->imageWidthP->GetValue(),
- this->imageHeightP->GetValue(),
+ this->imageSizeP->GetValue().x,
+ this->imageSizeP->GetValue().y,
1,
Ogre::PF_B8G8R8,
this->saveFrameBuffer)
@@ -215,8 +216,8 @@
// Create image data structure
imgData = new Ogre::ImageCodec::ImageData();
- imgData->width = this->imageWidthP->GetValue();
- imgData->height = this->imageHeightP->GetValue();
+ imgData->width = this->imageSizeP->GetValue().x;
+ imgData->height = this->imageSizeP->GetValue().y;
imgData->depth = 1;
imgData->format = Ogre::PF_B8G8R8;
size = this->GetImageByteSize();
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-09-28 21:14:00 UTC (rev 7050)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-09-29 03:01:33 UTC (rev 7051)
@@ -178,8 +178,8 @@
//this->renderTargets[0]->addListener(&this->leftCameraListener);
//this->renderTargets[1]->addListener(&this->rightCameraListener);
- this->rgbBufferSize =
this->imageWidthP->GetValue()*this->imageHeightP->GetValue() * 3;
- this->depthBufferSize =
this->imageWidthP->GetValue()*this->imageHeightP->GetValue();
+ this->rgbBufferSize = this->imageSizeP->GetValue().x *
this->imageSizeP->GetValue().y * 3;
+ this->depthBufferSize =
this->imageSizeP->GetValue().x*this->imageSizeP->GetValue().y;
// Allocate buffers
this->depthBuffer[0] = new float[this->depthBufferSize];
@@ -338,22 +338,22 @@
hardwareBuffer->lock(Ogre::HardwarePixelBuffer::HBL_NORMAL);
- top = (int)((hardwareBuffer->getHeight() - this->imageHeightP->GetValue())
/ 2.0);
- left = (int)((hardwareBuffer->getWidth() - this->imageWidthP->GetValue())
/ 2.0);
- right = left + this->imageWidthP->GetValue();
- bottom = top + this->imageHeightP->GetValue();
+ top = (int)((hardwareBuffer->getHeight() - this->imageSizeP->GetValue().y)
/ 2.0);
+ left = (int)((hardwareBuffer->getWidth() - this->imageSizeP->GetValue().x)
/ 2.0);
+ right = left + this->imageSizeP->GetValue().x;
+ bottom = top + this->imageSizeP->GetValue().y;
if (i < 2)
{
hardwareBuffer->blitToMemory ( Ogre::Box(left,top,right,bottom),
- Ogre::PixelBox( this->imageWidthP->GetValue(),
this->imageHeightP->GetValue(),
+ Ogre::PixelBox( this->imageSizeP->GetValue().x,
this->imageSizeP->GetValue().y,
1, PF_RGB, this->rgbBuffer[i])
);
}
else
{
hardwareBuffer->blitToMemory (Ogre::Box(left,top,right,bottom),
- Ogre::PixelBox( this->imageWidthP->GetValue(),
this->imageHeightP->GetValue(),
+ Ogre::PixelBox( this->imageSizeP->GetValue().x,
this->imageSizeP->GetValue().y,
1, PF_FLOAT, this->depthBuffer[i-2])
);
}
@@ -379,13 +379,13 @@
return;
}
- fprintf( fp, "P6\n# Gazebo\n%d %d\n255\n", this->imageWidthP->GetValue(),
this->imageHeightP->GetValue());
+ fprintf( fp, "P6\n# Gazebo\n%d %d\n255\n", this->imageSizeP->GetValue().x,
this->imageSizeP->GetValue().y);
- for (unsigned int i = 0; i<this->imageHeightP->GetValue(); i++)
+ for (unsigned int i = 0; i<this->imageSizeP->GetValue().x; i++)
{
- for (unsigned int j =0; j<this->imageWidthP->GetValue(); j++)
+ for (unsigned int j =0; j<this->imageSizeP->GetValue().y; j++)
{
- double f = this->depthBuffer[0][i*this->imageWidthP->GetValue()+j];
+ double f = this->depthBuffer[0][i*this->imageSizeP->GetValue().x+j];
unsigned char value = static_cast<unsigned char>(f * 255);
fwrite( &value, 1, 1, fp );
@@ -538,7 +538,7 @@
name,
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D,
- this->imageWidthP->GetValue(), this->imageHeightP->GetValue(), 0,
+ this->imageSizeP->GetValue().x, this->imageSizeP->GetValue().y, 0,
pf,
Ogre::TU_RENDERTARGET);
}
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